In this paper we study the existence and uniqueness of Nash equilibria (solution to competition-wise problems, with several controls trying to reach possibly different goals) associated to linear partial differential equations and show that, in some cases, they are also the solution of suitable single-objective optimization problems (i.e. cooperative-wise problems, where all the controls cooperate to reach a common goal). We use cost functions associated with a particular linear parabolic partial differential equations and distributed controls, but the results are also valid for more general linear differential equations (including elliptic and hyperbolic cases) and controls (e.g. boundary controls, initial value controls,...).
We present a unified framework for characterizing local Nash equilibria in continuous games on either infinite-dimensional or finite-dimensional non-convex strategy spaces. We provide intrinsic necessary and sufficient first- and second-order conditions ensuring strategies constitute local Nash equilibria. We term points satisfying the sufficient conditions differential Nash equilibria. Further, we provide a sufficient condition (non-degeneracy) guaranteeing differential Nash equilibria are isolated and show that such equilibria are structurally stable. We present tutorial examples to illustra…
We observe that a significant class of Nash equilibrium problems in non-potential games can be associated with monotone inclusion problems. We propose splitting techniques to solve such problems and establish their convergence. Applications to generalized Nash equilibria, zero-sum games, and cyclic proximity problems are demonstrated.
Linear complementarity programming is a generalization of linear programming which encompasses the computation of Nash equilibria for bimatrix games. While the latter problem is PPAD-complete, we show that the tropical analogue of the complementarity problem associated with Nash equilibria can be solved in polynomial time. Moreover, we prove that the Lemke--Howson algorithm carries over the tropical setting and performs a linear number of pivots in the worst case. A consequence of this result is a new class of (classical) bimatrix games for which Nash equilibria computation can be done in poly…
In this paper we consider continuity of the set of Nash equilibria and approximate Nash equilibria for parameterized games. For parameterized games with unique Nash equilibria, the continuity of this equilibrium mapping is well-known. However, when the equilibria need not be unique, there may exist discontinuities in the equilibrium mapping. The focus of this work is to summarize continuity properties for parameterized Nash equilibria and prove continuity via the approximate Nash game with uniformly continuous objective functions over potentially non-compact strategy spaces.
We prove that, under appropriate conditions, an abstract game with quasi-Leontief payoff functions $u_i : \prod_{j=1}^nX_j\to\mathbb{R}$ has a Nash equilibria. When all the payoff functions are globally quasi-Leontief, the existence and the characterization of efficient Nash equilibria mainly follows from the analysis carried out in part I. When the payoff functions are individually quasi-Leontief functions the matter is somewhat more complicated. We assume that all the strategy spaces are compact topological semilattices, and under appropriate continuity conditions on the payoff functions, we…
This article is devoted to various methods (optimal transport, fixed-point, ordinary differential equations) to obtain existence and/or uniqueness of Cournot-Nash equilibria for games with a continuum of players with both attractive and repulsive effects. We mainly address separable situations but for which the game does not have a potential. We also present several numerical simulations which illustrate the applicability of our approach to compute Cournot-Nash equilibria.
We propose an asynchronous block-iterative decomposition algorithm to solve Nash equilibrium problems involving a mix of nonsmooth and smooth functions acting on linear mixtures of strategies. The methodology relies heavily on monotone operator theory and in particular on warped resolvents.
We consider multi-agent decision making, where each agent optimizes its cost function subject to constraints. Agents' actions belong to a compact convex Euclidean space and the agents' cost functions are coupled. We propose a distributed payoff-based algorithm to learn Nash equilibria in the game between agents. Each agent uses only information about its current cost value to compute its next action. We prove convergence of the proposed algorithm to a Nash equilibrium in the game leveraging established results on stochastic processes. The performance of the algorithm is analyzed with a numeric…
We consider multi-agent decision making where each agent optimizes its convex cost function subject to individual and coupling constraints. The constraint sets are compact convex subsets of a Euclidean space. To learn Nash equilibria, we propose a novel distributed payoff-based algorithm, such that each agent uses information only about its cost function values and the constraint function values with their associated dual multiplier. We prove convergence of this algorithm to a Nash equilibrium, under the assumption that the game admits a strictly convex potential function. In the absence of co…
We consider a class of N-player stochastic games of multi-dimensional singular control, in which each player faces a minimization problem of monotone-follower type with submodular costs. We call these games "monotone-follower games". In a not necessarily Markovian setting, we establish the existence of Nash equilibria. Moreover, we introduce a sequence of approximating games by restricting, for each natural number n, the players' admissible strategies to the set of Lipschitz processes with Lipschitz constant bounded by n. We prove that, for each n, there exists a Nash equilibrium of the approx…
In this paper we introduce the concept of split Nash equilibrium problems associated with two related noncooperative strategic games. Then we apply the Fan-KKM theorem to prove the existence of solutions to split Nash equilibrium problems of related noncooperative strategic games, in which the strategy sets of the players are nonempty closed and convex subsets in Banach spaces. As application of this existence to economics, an example is provided to study the existence of split Nash equilibrium of utilities of two related economies. As applications, we study the existence of split Nash equilib…
The notion of Nash equilibria plays a key role in the analysis of strategic interactions in the framework of $N$ player games. Analysis of Nash equilibria is however a complex issue when the number of players is large. In this article we emphasize the role of optimal transport theory in: 1) the passage from Nash to Cournot-Nash equilibria as the number of players tends to infinity, 2) the analysis of Cournot-Nash equilibria.
For a mean field game model with a major and infinite minor players, we characterize a notion of Nash equilibrium via a system of so-called master equations, namely a system of nonlinear transport equations in the space of measures. Then, for games with a finite number N of minor players and a major player, we prove that the solution of the corresponding Nash system converges to the solution of the system of master equations as N tends to infinity.
In this paper we deal with linear production situations in which there is a limited common-pool resource, managed by an external agent. The profit that a producer, or a group of producers, can attain depends on the amount of common-pool resource obtained through a certain procedure. We contemplate a competitive process among the producers or groups of producers and study the corresponding non cooperative games, describing their (strict) Nash equilibria in pure strategies. It is shown that strict Nash equilibria form a subset of strong Nash equilibria, which in turn form a proper subset of Nash…
This paper studies an asymptotic solvability problem for linear quadratic (LQ) mean field games with controlled diffusions and indefinite weights for the state and control in the costs. We employ a rescaling approach to derive a low dimensional Riccati ordinary differential equation (ODE) system, which characterizes a necessary and sufficient condition for asymptotic solvability. The rescaling technique is further used for performance estimates, establishing an $O(1/N)$-Nash equilibrium for the obtained decentralized strategies.
This paper shows the existence of $\mathcal{O}(\frac{1}{n^γ})$-Nash equilibria in $n$-player noncooperative sum-aggregative games in which the players' cost functions, depending only on their own action and the average of all players' actions, are lower semicontinuous in the former while $γ$-Hölder continuous in the latter. Neither the action sets nor the cost functions need to be convex. For an important class of sum-aggregative games, which includes congestion games with $γ$ equal to 1, a gradient-proximal algorithm is used to construct $\mathcal{O}(\frac{1}{n})$-Nash equilibria with at most…
In this paper we consider strong Nash equilibria, in mixed strategies, for finite games. Any strong Nash equilibrium outcome is Pareto efficient for each coalition. First, we analyze the two--player setting. Our main result, in its simplest form, states that if a game has a strong Nash equilibrium with full support (that is, both players randomize among all pure strategies), then the game is strictly competitive. In order to get our result we use the indifference principle fulfilled by any Nash equilibrium, and the classical KKT conditions (in the vector setting), that are necessary conditions…
In this paper, we consider a linear quadratic stochastic two-person nonzero-sum differential game. Open-loop and closed-loop Nash equilibria are introduced. The existence of the former is characterized by the solvability of a system of forward-backward stochastic differential equations, and that of the latter is characterized by the solvability of a system of coupled symmetric Riccati differential equations. Sometimes, open-loop Nash equilibria admit a closed-loop representation, via the solution to a system of non-symmetric Riccati equations, which is different from the outcome of the closed-…
For generalized Nash equilibrium problems (GNEP) with shared constraints we focus on the notion of normalized Nash equilibrium in the nonconvex setting. The property of nondegeneracy for normalized Nash equilibria is introduced. Nondegeneracy refers to GNEP-tailored versions of linear independence constraint qualification, strict complementarity and second-order regularity. Surprisingly enough, nondegeneracy of normalized Nash equilibrium does not prevent from degeneracies at the individual players' level. We show that generically all normalized Nash equilibria are nondegenerate. Moreover, non…
Inspired by a paper of R. W. Rosenthal, we investigate generalized Nash-equilibria of integer programming games. We show that generalized Nash-equilibria always exist and are related to an optimal solution of a so-called N-fold integer program. This link allows us to establish some polynomial time complexity results about solving this optimization problem and its inverse counter-part.
University of California, Berkeley（加州大学伯克利分校）；Department of Electrical Engineering and Computer Science（电气工程与计算机科学系）；Division of Computer Science（计算机科学部）；Department of Statistics（统计学系）
We propose local symplectic surgery, a two-timescale procedure for finding local Nash equilibria in two-player zero-sum games. We first show that previous gradient-based algorithms cannot guarantee convergence to local Nash equilibria due to the existence of non-Nash stationary points. By taking advantage of the differential structure of the game, we construct an algorithm for which the local Nash equilibria are the only attracting fixed points. We also show that the algorithm exhibits no oscillatory behaviors in neighborhoods of equilibria and show that it has the same per-iteration complexit…
A bimatrix game $(A,B)$ is called a game of rank $k$ if the rank of the matrix $A+B$ is at most $k$. We consider the problem of enumerating the Nash equilibria in (non-degenerate) games of rank 1. In particular, we show that even for games of rank 1 not all equilibria can be reached by a Lemke-Howson path and present a parametric simplex-type algorithm for enumerating all Nash equilibria of a non-degenerate game of rank 1.
Designing efficient algorithms to compute Nash equilibria poses considerable challenges in Algorithmic Game Theory and Optimization. In this work, we employ integer programming techniques to compute Nash equilibria in Integer Programming Games, a class of simultaneous and non-cooperative games where each player solves a parametrized integer program. We introduce ZERO Regrets, a general and efficient cutting plane algorithm to compute, enumerate, and select Nash equilibria. Our framework leverages the concept of equilibrium inequality, an inequality valid for any Nash equilibrium, and the assoc…
If a game has a unique Nash equilibrium, then this equilibrium is arguably the solution of the game from the refinement's literature point of view. However, it might be that for almost all initial conditions, all strategies in the support of this equilibrium are eliminated by the replicator dynamics and the best-reply dynamics.
We consider the problem of approximating Nash equilibria of $N$ functions $f_1,\dots, f_N$ of $N$ variables. In particular, we deduce conditions under which systems of the form $$ \dot u_j(t)=-\nabla_{x_j}f_j(u(t)) $$ $(j=1,\dots, N)$ are well posed and in which the large time limits of their solutions $u(t)=(u_1(t),\dots, u_N(t))$ are Nash equilibria for $f_1,\dots, f_N$. To this end, we will invoke the theory of maximal monotone operators. We will also identify an application of these ideas in game theory and show how to approximate equilibria in some game theoretic problems in function spac…
Our paper concerns the computation of Nash equilibria of first-price auctions with correlated values. While there exist several equilibrium computation methods for auctions with independent values, the correlation of the bidders' values introduces significant complications that render existing methods unsatisfactory in practice. Our contribution is a step towards filling this gap: inspired by the seminal fictitious play process of Brown and Robinson, we present a learning heuristic-that we call fictitious bidding (FB)-for estimating Bayes-Nash equilibria of first-price auctions with correlated…
We study a class of dynamic decision problems of mean field type with time inconsistent cost functionals, and derive a stochastic maximum principle to characterize subgame perfect Nash equilibrium points. Subsequently, this approach is extended to a mean field game to construct decentralized strategies and obtain an estimate of their performance.
This document consists of two parts: the second part was submitted earlier as a new proof of Nash's theorem, and the first part is a note explaining a problem found in that proof. We are indebted to Sergiu Hart and Eran Shmaya for their careful study which led to their simultaneous discovery of this error. So far the error has not been fixed, but many of the results and techniques of the paper remain valid, so we will continue to make it available online. Abstract for the original paper: We give a novel proof of the existence of Nash equilibria in all finite games without using fixed point the…
This note is devoted to study a class of games with a continuum of players for which Cournot-Nash equilibria can be obtained by minimisation of some cost related to Optimal Transport. In particular we focus on the case of an Optimal Transport term between unequal dimension. We also present several numerical simulations.
This paper analyses two-player nonzero-sum games of optimal stopping on a class of linear regular diffusions with not non-singular boundary behaviour (in the sense of Itô and McKean (1974), p.\ 108). We provide sufficient conditions under which Nash equilibria are realised by each player stopping the diffusion at one of the two boundary points of an interval. The boundaries of this interval solve a system of algebraic equations. We also provide conditions sufficient for the uniqueness of the equilibrium in this class.
This paper continues the study of the mean field game (MFG) convergence problem: In what sense do the Nash equilibria of $n$-player stochastic differential games converge to the mean field game as $n\rightarrow\infty$? Previous work on this problem took two forms. First, when the $n$-player equilibria are open-loop, compactness arguments permit a characterization of all limit points of $n$-player equilibria as weak MFG equilibria, which contain additional randomness compared to the standard (strong) equilibrium concept. On the other hand, when the $n$-player equilibria are closed-loop, the con…
Large population games with interactions through controls and common noise: convergence results and equivalence between $open$--$loop$ and $closed$--$loop$ controls
This paper considers dynamic (multi-stage) signaling games involving an encoder and a decoder who have subjective models on the cost functions. We consider both Nash (simultaneous-move) and Stackelberg (leader-follower) equilibria of dynamic signaling games under quadratic criteria. For the multi-stage scalar cheap talk, we show that the final stage equilibrium is always quantized and under further conditions the equilibria for all time stages must be quantized. In contrast, the Stackelberg equilibria are always fully revealing. In the multi-stage signaling game where the transmission of a Gau…
Nash equilibria and Pareto optimality are two distinct concepts when dealing with multiple criteria. It is well known that the two concepts do not coincide. However, in this work we show that it is possible to characterize the set of all Nash equilibria for any non-cooperative game as the Pareto optimal solutions of a certain vector optimization problem. To accomplish this task, we increase the dimensionality of the objective function and formulate a non-convex ordering cone under which Nash equilibria are Pareto efficient. We demonstrate these results, first, for shared constraint games in wh…
In this paper, we compute $ε$-approximate Nash equilibria in atomic splittable polymatroid congestion games with convex Lipschitz continuous cost functions. The main approach relies on computing a pure Nash equilibrium for an associated integrally-splittable congestion game, where players can only split their demand in integral multiples of a common packet size. It is known that one can compute pure Nash equilibria for integrally-splittable congestion games within a running time that is pseudo-polynomial in the aggregated demand of the players. As the main contribution of this paper, we decide…
We study a static game played by a finite number of agents, in which agents are assigned independent and identically distributed random types and each agent minimizes its objective function by choosing from a set of admissible actions that depends on its type. The game is anonymous in the sense that the objective function of each agent depends on the actions of other agents only through the empirical distribution of their type-action pairs. We study the asymptotic behavior of Nash equilibria, as the number of agents tends to infinity, first by deriving laws of large numbers characterizes almos…
Given a multifunction from $X$ to the $k-$fold symmetric product $Sym_k(X)$, we use the Dold-Thom Theorem to establish a homological selection Theorem. This is used to establish existence of Nash equilibria. Cost functions in problems concerning the existence of Nash Equilibria are traditionally multilinear in the mixed strategies. The main aim of this paper is to relax the hypothesis of multilinearity. We use basic intersection theory, Poincaré Duality in addition to the Dold-Thom Theorem.
We consider a large population dynamic game in discrete time. The peculiarity of the game is that players are characterized by time-evolving types, and so reasonably their actions should not anticipate the future values of their types. When interactions between players are of mean-field kind, we relate Nash equilibria for such games to an asymptotic notion of dynamic Cournot-Nash equilibria. Inspired by the works of Blanchet and Carlier for the static situation, we interpret dynamic Cournot-Nash equilibria in the light of causal optimal transport theory. Further specializing to games of potent…
Characterization and Computation of Feedback Nash Equilibria in Scalar Discounted N-Player Linear Quadratic Games
IMT School for Advanced Studies Lucca（卢卡高等研究院）；Research Unit DYSCO (Dynamical Systems, Control, and Optimization) at IMT School for Advanced Studies Lucca（卢卡高等研究院动态系统、控制与优化研究单元）
A fundamental open problem in monotone game theory is the computation of a specific generalized Nash equilibrium (GNE) among all the available ones, e.g. the optimal equilibrium with respect to a system-level objective. The existing GNE seeking algorithms have in fact convergence guarantees toward an arbitrary, possibly inefficient, equilibrium. In this paper, we solve this open problem by leveraging results from fixed-point selection theory and in turn derive distributed algorithms for the computation of an optimal GNE in monotone games. We then extend the technical results to the time-varyin…
Shared-constraint games are noncooperative $N$-player games where players are coupled through a common coupling constraint. It is known that such games admit two kinds of equilibria -- generalized Nash equilibria (GNE) and variational equilibria (VE) -- with two different economic interpretations. We consider such games in the context of resource allocation, where players move simultaneously to decide portions of the resource they can consume under a coupling constraint that the sum of the portions they demand be no more than the capacity of the resource. We clarify the worst case and best cas…
